Abstract
Robots used for industrial applications such as welding, painting and object handling have been common for many years. In recent years, the development of domestic robots has become more and more important because of the large and growing population of aged people, especially in Japan. To assist people in their daily lives, a robot must have the ability to deal with not only rigid objects but also the deformable and fragile objects usually encountered in our daily life. Many control algorithms have been developed for the manipulation of rigid objects, and in the recent past many studies related to robotic manipulation of deformable objects have also been reported (Hirai, 1998).
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